Surface Traversing Engine

ABSTRACT

A device for moving across a surface, comprising at least one section. Each section comprises a core and a drive sleeve, with the drive sleeve at least partially overlapping the core and reversibly movable relative to the core. In each section, the drive sleeve has at least one row of whiskers and the core has at least one row of whiskers, the whiskers pointing outward from the section, the whiskers capable of supporting at least the weight of the section. For each section, the reciprocal motion of the core and drive sleeve is driven by a motor.

FIELD OF THE INVENTION

The present invention generally pertains to a device for travelling overrough surfaces or through tunnels.

BACKGROUND OF THE INVENTION

There is a need in many areas for vehicles that can travel off-road,whether over rough terrain or through tunnels. For example, smallunmanned vehicles can be used to follow persons or other moving things,where the person or other moving thing may cross open fields, climb overrocks, go through tunnels or pipes or climb up stairs. In the prior art,off-road vehicles have typically used wheels, continuous tracks, orvibrational motors to enable them to move across or through the terrain.

U.S. Pat. No. 6,431,079 discloses a vehicle for traversing a surface,for example for carrying out an inspection, survey or maintenanceoperation upon that surface, includes two or more bodies interconnectedby structure for moving the bodies towards and away from each other,each of the bodies being supported upon a multiplicity of resilientbristles extending from it. By relative movement of the bodies, thevehicle is able to traverse the surface, which may be flat or curved,for example the internal or external surface of a tubular conduit suchas a tunnel, shaft or pipe.

However the device of U.S. Pat. No. 6,431,079 comprises a pneumaticcylinder linking the bodies, movement by means of lengthening andshortening the pneumatic cylinder external to the one-piece sections.

U.S. Pat. No. 9,238,178 discloses an apparatus includes a housing, arotational motor situated within the housing, a vibrating mechanism, anda plurality of appendages each having an appendage base proximal to thehousing and an appendage tip distal from the housing. One or more of theappendages are adapted to cause the apparatus to move across a surfacein a forward direction generally defined by a longitudinal offsetbetween the appendage base and the appendage tip, and the appendagesinclude two or more appendages disposed such that the appendage tips ofthe two or more appendages are adapted to contact opposing surfaces toproduce a net force in a direction generally defined by a longitudinaloffset between the appendage base and the appendage tip of the two ormore appendages as the vibrating mechanism causes the apparatus tovibrate. The net force can allow the apparatus to climb when theopposing surfaces are inclined.

However, the apparatus in U.S. Pat. No. 9,238,178 is unitary, with allthe legs attached to the same chassis and being moved by the samevibrator.

U.S. Pat. No. 8,294,333 discloses an autonomous vibration-driven device,for motion through a lumen or along a surface, utilizing an array offlexible fibers attached to the body of the device. The outer surface ofthe fibers have an anisotropic coefficient of friction with the surfacealong which the device is to move, and the fibers extend from the devicebody such that at least some of the fibers are in contact with the wallsalong a part of their length. A transducer is used to vibrate thedevice, such that it moves down the lumen. The transducer can be eitherdevice borne or external. A rotary device is also described, utilizingan array of fibers disposed on the rotor's body, the fibers having ananisotropic coefficient of friction with a central stator or with anouter circular wall. A planar motion device is also described forcrawling over a planar surface.

However, the apparatus in U.S. Pat. No. 8,294,333 is unitary, with allthe fibers attached to the same chassis and being moved by the samevibrator.

U.S. Pat. No. 3,946,459 discloses a self-propelled pipe cleaner with abody shaped to conform to the inside of a pipe with the axial extent ofthe body covered with a bristle pile material extending outward from thebody to engage the inside of the pipe. The pile has resilient bristlesuniformly inclined rearwardly relative to a forward direction of motionof the body. A vibrator is mounted within the body and energized forvibrating the body reciprocally and axially so the bristles engaging theinside of the pipe move the cleaner forward through the pipe forcleaning the pipe.

However, the pipe cleaner of U.S. Pat. No. 3,946,459 is unitary, withall the fibers attached to the same chassis and being moved by the samevibrator.

U.S. Pat. No. 3,196,580 discloses a vehicle which is supported bylongitudinally depending resilient elements such as brush bristles orleaf springs, propulsive force being imparted to these resilientelements by a whirling weight carried in driving relationship on thevehicle. This whirling weight imparts a vibratory action on the vehicle,due to the rapid shift of the center of gravity, which vibrations aretransferred into a propulsive force through the resilient dependingelements.

To this end, the depending elements are rearwardly inclined in theopposite direction to vehicle movement.

However, the vehicle of U.S. Pat. No. 3,196,580 is unitary, with all thefibers attached to the same chassis and being moved by the samevibrator.

U.S. Pat. No. 2,917,762 discloses an apparatus for traveling throughpipes, conduits and the like, comprising a pair of brushes which, forexample, may be of circular cross sectional shape having a central coresupporting the bristles. The bristles are designed for supporting thecore in a position spaced away from the walls of the conduit or pipesthrough which the apparatus is to travel, the diameter of the brushesbeing normally preferably slightly in excess of the inside diameter ofsuch passage. Furthermore, the bristles of the brushes are tiltedgenerally backward with respect to the proposed direction of motion.Such brushes support therebetween a suitable vibratory power meanswhereby the core members are vibrated in directions substantially atright angles to the longitudinal axis of the apparatus.

However, the apparatus of U.S. Pat. No. 2,917,762 is unitary, with afixed distance between sets of fibers, with the vibration perpendicularto the long axis of the device.

The article A Bristle-Based Pipeline Robot for Ill-Constraint Pipes byZHELONG Wang and HONG Gu (IEEE/ASME Transactions on Mechatronics, vol.13, no. 3, pp383-392, June 2008) discloses the study of a pipeline robotbased on a bristle mechanism. The bristle mechanism shows greatflexibility and makes the pipeline robot to be able to work inill-constraint pipes, which were previously considered as unpiggable oruninspectable. The working principle of the pipeline robot isillustrated and the bristle mechanism is given an in-depth analysis. Abristle traction force model is set up and an approximate calculation ofbristle traction force based on Euler buckling theory is also described.The approximate calculation is conducted and simulated by using a singlebristle. A laboratory experiment of bristle traction force is carriedout and then the experimental result is compared with the calculationresult. The experimental result shows the validity of the bristletraction force model. Field trials of brush pipeline robots were alsoconducted in ill-constraint pipes and the trial results show theflexibility and adaptability of the bristle mechanism. Future work andkey issues in research on brush pipeline robots are discussed at the endof the paper.

However, the article by Zhelong and Wang discloses a robot comprising apneumatic cylinder linking the bodies, movement by means of lengtheningand shortening a pneumatic cylinder external to the one-piece sections.

It is therefore a long felt need to provide a non-unitary device, wherethe distance between sets of bristles is not fixed, motive power is notvibratory, and none of the sections is unpowered.

SUMMARY OF THE INVENTION

It is an object of the present invention to disclose a device for movingacross a surface. The device comprises at least one section, the sectionhaving a main longitudinal axis, the section comprising a core and atleast one drive sleeve, the at least one drive sleeve reversibly movablerelative to the core in a direction of the main longitudinal axis; foreach the at least one section, at least one row of core whiskers inmechanical communication with the core; for each the at least onesection, at least one row of sleeve whiskers in mechanical communicationwith the drive sleeve. Each the at least one section comprises a rotorin mechanical connection with the core and the at least one drivesleeve, the rotor configured to reversibly move the drive sleeverelative to the core. For each the section, the rotor is inside ahousing of the section.

It is another object of the present invention to disclose the devicedefined above, wherein each member of a group consisting of the at leastone row of core whiskers and the at least one row of sleeve whiskerscomprises at least one whisker at at least one position.

It is another object of the present invention to disclose the device asdefined in any of the above, comprising a rod, the rod connected at arod drive end with the rotor and the rod connected at a rod core endwith the core.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein the rod is connected to aperipheral portion of the rotor.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein the rod comprises at least one arm,the rod being connected to the arm.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein the at least one sectionadditionally comprises a rocking mechanism, the rocking mechanismconfigured to displace either the rotor or the rotor and the motor in adirection perpendicular to the main longitudinal axis of the at leastone section.

It is another object of the present invention to disclose the device asdefined in any of the above, it additionally comprising a device headand/or a controller. The controller is can be positioned within thedevice head.

It is another object of the present invention to disclose the device asdefined in any of the above, additionally comprising a member of a groupconsisting of a processor, wired communications with the at least onesection, wireless communications with the at least one section, wiredcommunications with an external controller, wireless communications withan external controller, at least one sensor, and any combinationthereof.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein the processor comprises softwareconfigured to perform a member of a group consisting of control at leastone motor, control movement of at least one whisker, control speed ofthe device, control direction of at least one section, control bendingof at least one section, acquire sensor data, control movement of atleast one arm, control access to at least one storage location, analyzeat least one camera image, store at least a part of at least one image,accept commands from an external controller, send data to an externalcontroller, store commands, store data, and any combination thereof.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein the at least one sensor is selectedfrom a group consisting of a camera, a temperature sensor, a pressuresensor, a distance sensor, a direction sensor, a velocity sensor, anaccelerometer, a pressure sensor, a sound sensor, a force sensor, andany combination thereof.

It is another object of the present invention to disclose the device asdefined in any of the above, additionally comprising at least one armconfigured to grasp at least one object.

It is another object of the present invention to disclose the device asdefined in any of the above, additionally comprising at least onelocation configured to store the at least one object at leasttemporarily.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein for each section, for each corewhisker in the at least one row of core whiskers, a free end of the corewhisker is closer to the core end of the section than a base end of thesame core whisker and, for each sleeve whisker in the at least one rowof sleeve whiskers, a free end of the sleeve whisker is closer to thecore end of the section than a base end of the same sleeve whisker.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein for each section, for each corewhisker in the at least one row of core whiskers, a free end of the corewhisker is closer to the drive end of the section than a base end of thesame core whisker and, for each sleeve whisker in the at least one rowof sleeve whiskers, a free end of the sleeve whisker is closer to thedrive end of the section than a base end of the same sleeve whisker.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein for the at least one section, anangle subtended between the main longitudinal axis of the at least onesection and each whisker in a group consisting of the at least one rowof core whiskers and the at least one row of sleeve whiskers is in arange between 45° and 90°.

It is another object of the present invention to disclose the device asdefined in any of the above, additionally comprising at least onemechanism for reversing a direction of at least one member of a groupconsisting of the at least one row of core whiskers and the at least onerow of sleeve whiskers

It is another object of the present invention to disclose the device asdefined in any of the above, wherein the at least one mechanism forreversing the direction is selected from a group consisting of apivoting mechanism, a whisker end reversing mechanism, and anycombination thereof.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein for the at least one section, for arow of whiskers selected from a group consisting of the at least one rowof core whiskers and the at least one row of sleeve whiskers, the row ofwhiskers is within an area bounded by a length of the at least onesection and an arc in a plane perpendicular to the main longitudinalaxis of the at least one section.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein an angle subtended by the arc is ina range between 5° and 360°.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein the arc subtends an angle of 360°.

It is another object of the present invention to disclose the device asdefined in any of the above, additionally comprising a steeringmechanism.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein the core passes entirely throughthe section.

It is another object of the present invention to disclose a method formoving across a surface comprising steps as follows: (a) Providing adevice for moving across a surface comprising: at least one section, thesection having a main longitudinal axis, the section comprising a coreand at least one drive sleeve, the at least one drive sleeve reversiblymovable relative to the core in a direction of the main longitudinalaxis; for each the at least one section, at least one row of corewhiskers in mechanical communication with the core; for each the atleast one section, at least one sleeve row of whiskers in mechanicalcommunication with the drive sleeve. (b) Placing the device on asurface; and (c) Activating the device. Each the at least one sectioncomprises a rotor in mechanical connection with the core and the atleast one drive sleeve, the rotor configured to reversibly move thedrive sleeve relative to the core. For each the section, the rotor isinside a housing of the section.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of providing each memberof a group consisting of the at least one row of core whiskers and theat least one row of sleeve whiskers comprising at least one whisker atleast one position.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising steps of providinga rod, connecting the rod at a rod drive end with the rotor andconnecting the rod at a rod core end with the core.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step ofconnecting the rod to a peripheral portion of the rotor.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising steps of providingthe rod comprising at least one arm, and connecting the rod to the arm.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising steps of providingthe at least one section comprising a rocking mechanism, and the rockingmechanism displacing either the rotor or the rotor and the motor in adirection perpendicular to the main longitudinal axis of the at leastone section.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of providinga device head.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of providinga controller.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of placingthe controller within the device head.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of providinga member of a group consisting of a processor, wired communications withthe at least one section, wireless communications with the at least onesection, wired communications with an external controller, wirelesscommunications with an external controller, at least one sensor, and anycombination thereof.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of providingthe processor comprising software configured to perform a member of agroup consisting of control at least one motor, control movement of atleast one whisker, control speed of the device, control direction of atleast one section, control bending of at least one section, acquiresensor data, control movement of at least one arm, control access to atleast one storage location, analyze at least one camera image, store atleast a part of at least one image, accept commands from an externalcontroller, send data to an external controller, store commands, storedata, and any combination thereof.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of selectingthe at least one sensor from a group consisting of a camera, atemperature sensor, a pressure sensor, a distance sensor, a directionsensor, a velocity sensor, an accelerometer, a pressure sensor, a soundsensor, a force sensor, and any combination thereof.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of providingat least one arm.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of graspingat least one object with the at least one arm.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of providingat least one storage location.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of storingthe at least one object at least temporarily in the at least one storagelocation.

It is another object of the present invention to disclose the method asdefined in any of the above, wherein for each section, for each corewhisker in the at least one row of core whiskers, positioning a free endof the core whisker closer to the core end of the section than a baseend of the same core whisker and, for each sleeve whisker in the atleast one row of sleeve whiskers, positioning a free end of the sleevewhisker closer to the core end of the section than a base end of thesame sleeve whisker.

It is another object of the present invention to disclose the method asdefined in any of the above, wherein for each section, for each corewhisker in the at least one row of core whiskers, positioning a free endof the core whisker closer to the drive end of the section than a baseend of the same core whisker and, for each sleeve whisker in the atleast one row of sleeve whiskers, positioning a free end of the sleevewhisker closer to the drive end of the section than a base end of thesame sleeve whisker.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of, for theat least one section, selecting an angle subtended between the mainlongitudinal axis of the at least one section and each whisker in agroup consisting of the at least one row of core whiskers and the atleast one row of sleeve whiskers is in a range between 45° and 90°.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of providingat least one mechanism for reversing a direction of at least one memberof a group consisting of the at least one row of core whiskers and theat least one row of sleeve whiskers

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of selectingthe at least one mechanism for reversing the direction from a groupconsisting of a pivoting mechanism, a whisker end reversing mechanism,and any combination thereof.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of, for theat least one section, for a row of whiskers selected from a groupconsisting of the at least one row of core whiskers and the at least onerow of sleeve whiskers, positioning the row of whiskers within an areabounded by a length of the at least one section and an arc in a planeperpendicular to the main longitudinal axis of the at least one section.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of selectingan angle subtended by the arc to be in a range between 5° and 360°.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of the arcsubtending an angle of 360°.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of providinga steering mechanism.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein the core passes entirely throughthe section.

It is an object of the present invention to disclose a device for movingacross a surface. The device comprises at least one section, the sectionhaving a main longitudinal axis, the section comprising a core and atleast one drive sleeve, the at least one drive sleeve reversibly movablerelative to the core in a direction of the main longitudinal axis; foreach the at least one section, at least one row of core whiskers inmechanical communication with the core; for each the at least onesection, at least one row of sleeve whiskers in mechanical communicationwith the drive sleeve. Each the at least one section comprises a rotorin mechanical connection with the core and the at least one drivesleeve, the rotor configured to reversibly move the drive sleeverelative to the core. For each the section, the rotor is inside ahousing of the section.

It is another object of the present invention to disclose the devicedefined above, wherein each member of a group consisting of the at leastone row of core whiskers and the at least one row of sleeve whiskerscomprises at least one whisker at at least one position.

It is another object of the present invention to disclose the device asdefined in any of the above, comprising a rod, the rod connected at arod drive end with the rotor and the rod connected at a rod core endwith the core.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein the rod is connected to aperipheral portion of the rotor.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein the rod comprises at least one arm,the rod being connected to the arm.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein the at least one sectionadditionally comprises a rocking mechanism, the rocking mechanismconfigured to displace either the rotor or the rotor and the motor in adirection perpendicular to the main longitudinal axis of the at leastone section.

It is another object of the present invention to disclose the device asdefined in any of the above, it additionally comprising a device headand/or a controller. The controller is can be positioned within thedevice head.

It is another object of the present invention to disclose the device asdefined in any of the above, additionally comprising a member of a groupconsisting of a processor, wired communications with the at least onesection, wireless communications with the at least one section, wiredcommunications with an external controller, wireless communications withan external controller, at least one sensor, and any combinationthereof.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein the processor comprises softwareconfigured to perform a member of a group consisting of control at leastone motor, control movement of at least one whisker, control speed ofthe device, control direction of at least one section, control bendingof at least one section, acquire sensor data, control movement of atleast one arm, control access to at least one storage location, analyzeat least one camera image, store at least a part of at least one image,accept commands from an external controller, send data to an externalcontroller, store commands, store data, and any combination thereof.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein the at least one sensor is selectedfrom a group consisting of a camera, a temperature sensor, a pressuresensor, a distance sensor, a direction sensor, a velocity sensor, anaccelerometer, a pressure sensor, a sound sensor, a force sensor, andany combination thereof.

It is another object of the present invention to disclose the device asdefined in any of the above, additionally comprising at least one armconfigured to grasp at least one object.

It is another object of the present invention to disclose the device asdefined in any of the above, additionally comprising at least onelocation configured to store the at least one object at leasttemporarily.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein for each section, for each corewhisker in the at least one row of core whiskers, a free end of the corewhisker is closer to the core end of the section than a base end of thesame core whisker and, for each sleeve whisker in the at least one rowof sleeve whiskers, a free end of the sleeve whisker is closer to thecore end of the section than a base end of the same sleeve whisker.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein for each section, for each corewhisker in the at least one row of core whiskers, a free end of the corewhisker is closer to the drive end of the section than a base end of thesame core whisker and, for each sleeve whisker in the at least one rowof sleeve whiskers, a free end of the sleeve whisker is closer to thedrive end of the section than a base end of the same sleeve whisker.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein for the at least one section, anangle subtended between the main longitudinal axis of the at least onesection and each whisker in a group consisting of the at least one rowof core whiskers and the at least one row of sleeve whiskers is in arange between 45° and 90°.

It is another object of the present invention to disclose the device asdefined in any of the above, additionally comprising at least onemechanism for reversing a direction of at least one member of a groupconsisting of the at least one row of core whiskers and the at least onerow of sleeve whiskers

It is another object of the present invention to disclose the device asdefined in any of the above, wherein the at least one mechanism forreversing the direction is selected from a group consisting of apivoting mechanism, a whisker end reversing mechanism, and anycombination thereof.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein for the at least one section, for arow of whiskers selected from a group consisting of the at least one rowof core whiskers and the at least one row of sleeve whiskers, the row ofwhiskers is within an area bounded by a length of the at least onesection and an arc in a plane perpendicular to the main longitudinalaxis of the at least one section.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein an angle subtended by the arc is ina range between 5° and 360°.

It is another object of the present invention to disclose the device asdefined in any of the above, wherein the arc subtends an angle of 360°.

It is another object of the present invention to disclose the device asdefined in any of the above, additionally comprising a steeringmechanism.

It is another object of the present invention to disclose a method formoving across a surface comprising steps as follows: (a) Providing adevice for moving across a surface comprising: at least one section, thesection having a main longitudinal axis, the section comprising a coreand at least one drive sleeve, the at least one drive sleeve reversiblymovable relative to the core in a direction of the main longitudinalaxis; for each the at least one section, at least one row of corewhiskers in mechanical communication with the core; for each the atleast one section, at least one sleeve row of whiskers in mechanicalcommunication with the drive sleeve. (b) Placing the device on asurface; and (c) Activating the device. Each the at least one sectioncomprises a rotor in mechanical connection with the core and the atleast one drive sleeve, the rotor configured to reversibly move thedrive sleeve relative to the core. For each the section, the rotor isinside a housing of the section.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of providing each memberof a group consisting of the at least one row of core whiskers and theat least one row of sleeve whiskers comprising at least one whisker atleast one position.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising steps of providinga rod, connecting the rod at a rod drive end with the rotor andconnecting the rod at a rod core end with the core.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step ofconnecting the rod to a peripheral portion of the rotor.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising steps of providingthe rod comprising at least one arm, and connecting the rod to the arm.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising steps of providingthe at least one section comprising a rocking mechanism, and the rockingmechanism displacing either the rotor or the rotor and the motor in adirection perpendicular to the main longitudinal axis of the at leastone section.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of providinga device head.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of providinga controller.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of placingthe controller within the device head.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of providinga member of a group consisting of a processor, wired communications withthe at least one section, wireless communications with the at least onesection, wired communications with an external controller, wirelesscommunications with an external controller, at least one sensor, and anycombination thereof.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of providingthe processor comprising software configured to perform a member of agroup consisting of control at least one motor, control movement of atleast one whisker, control speed of the device, control direction of atleast one section, control bending of at least one section, acquiresensor data, control movement of at least one arm, control access to atleast one storage location, analyze at least one camera image, store atleast a part of at least one image, accept commands from an externalcontroller, send data to an external controller, store commands, storedata, and any combination thereof.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of selectingthe at least one sensor from a group consisting of a camera, atemperature sensor, a pressure sensor, a distance sensor, a directionsensor, a velocity sensor, an accelerometer, a pressure sensor, a soundsensor, a force sensor, and any combination thereof.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of providingat least one arm.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of graspingat least one object with the at least one arm.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of providingat least one storage location.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of storingthe at least one object at least temporarily in the at least one storagelocation.

It is another object of the present invention to disclose the method asdefined in any of the above, wherein for each section, for each corewhisker in the at least one row of core whiskers, positioning a free endof the core whisker closer to the core end of the section than a baseend of the same core whisker and, for each sleeve whisker in the atleast one row of sleeve whiskers, positioning a free end of the sleevewhisker closer to the core end of the section than a base end of thesame sleeve whisker.

It is another object of the present invention to disclose the method asdefined in any of the above, wherein for each section, for each corewhisker in the at least one row of core whiskers, positioning a free endof the core whisker closer to the drive end of the section than a baseend of the same core whisker and, for each sleeve whisker in the atleast one row of sleeve whiskers, positioning a free end of the sleevewhisker closer to the drive end of the section than a base end of thesame sleeve whisker.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of, for theat least one section, selecting an angle subtended between the mainlongitudinal axis of the at least one section and each whisker in agroup consisting of the at least one row of core whiskers and the atleast one row of sleeve whiskers is in a range between 45° and 90°.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of providingat least one mechanism for reversing a direction of at least one memberof a group consisting of the at least one row of core whiskers and theat least one row of sleeve whiskers

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of selectingthe at least one mechanism for reversing the direction from a groupconsisting of a pivoting mechanism, a whisker end reversing mechanism,and any combination thereof.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of, for theat least one section, for a row of whiskers selected from a groupconsisting of the at least one row of core whiskers and the at least onerow of sleeve whiskers, positioning the row of whiskers within an areabounded by a length of the at least one section and an arc in a planeperpendicular to the main longitudinal axis of the at least one section.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of selectingan angle subtended by the arc to be in a range between 5° and 360°.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of the arcsubtending an angle of 360°.

It is another object of the present invention to disclose the method asdefined in any of the above, additionally comprising a step of providinga steering mechanism.

BRIEF DESCRIPTION OF THE FIGURES

In order to better understand the invention and its implementation inpractice, a plurality of embodiments will now be described, by way ofnon-limiting example only, with reference to the accompanying drawings,wherein

FIG. 1 schematically illustrates a cross-section of an embodiment of thedevice of the present invention;

FIG. 2 schematically illustrates a cross-section of an embodiment of thedevice (100) in a pipe;

FIG. 3 schematically illustrates a cross-section of an embodiment of asection;

FIG. 4A-D schematically illustrates an embodiment of an attachmentsystem for a rigid whisker;

FIG. 5A-F schematically illustrates arrangements of whiskers on thesurface of the core;

FIG. 6A schematically illustrates single whiskers;

FIG. 6B schematically illustrates pluralities of whiskers in clumps;

FIG. 7A-B schematically illustrates the device moving across a surface;

FIG. 8 schematically illustrates reversal of the direction of travel bymeans of a pivoting mechanism;

FIGS. 9A-D, 10, 11A-D and 12A-C schematically illustrate reversal of thedirection of travel by means of exchanging base and distal ends of awhisker; and

FIGS. 13, 14A-B and 15A-B schematically illustrate pressure spreadingtips for a whisker.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

The following description is provided, alongside all chapters of thepresent invention, so as to enable any person skilled in the art to makeuse of the invention and sets forth the best modes contemplated by theinventor of carrying out this invention. Various modifications, however,will remain apparent to those skilled in the art, since the genericprinciples of the present invention have been defined specifically toprovide a device for travelling over rough surfaces or through tunnels.

In the Figures, similar numbers refer to similar parts.

The present invention is a system, which can be robotic or manuallycontrolled, designed for irregular spaces with variable geometry and isdesigned to operate in areas where conventional mechanisms havedifficulty moving. The system is most advantageous in closed tubularspaces characterized by limited access that in the prior art, requiredhuman control or human access, often at the risk of an operator's life.

The system can be fully autonomous, partially autonomous, or fullymanually controlled. If partially autonomous or fully manuallycontrolled, it can be remotely controlled or locally controlled. In someembodiments, control is via a human carried by the system, typically inits head.

In the prior art, robots designed for use in enclosed spaces aretypically wheel-based or caterpillar-based and do not function well incomplex media with a dense environment, significant geometrical changesand multiple obstacles.

Typical prior art robots include:

-   -   All terrain robots—developed for work on the ground. They have        high capability in this environment, but are not well adapted        for passage through narrow apertures.    -   Robots for infrastructure—developed for work in pipes, mainly        for the maintenance of infrastructure. They are typically        designed for use in standard sections (pipes, channels, etc.)        and are not well adapted for use in irregular or changing        sections.    -   Special robots—robots with unique propulsion mechanisms such as        robots that mimic snakes, hopping robots, and robots using a        screw mechanism. Snakes and hopping robots need room to move;        the snakes laterally and the hopping robots vertically, while        screw mechanism robots require a well-defined section in order        to move efficiently.    -   Stealth/motorized balloons—motorized skis and balloons flown        into tunnels and caves. Again, significant space is needed to        get the devices to their destination.

These platforms do not provide an adequate solution because theirpropulsion capabilities do not allow sufficient movement in this medium.In addition, alternatives were also examined for the use of undergrounddrones, but these are very limited in carrying capacity, are sensitiveto communication problems, unable to operate in liquid, delicate andhave difficulty dealing with obstacles that are not on the ground (suchas cables hanging from the ceiling).

The article A Bristle-Based Pipeline Robot for Ill-Constraint Pipes byZHELONG Wang and HONG Gu (IEEE/ASME Transactions on Mechatronics, vol.13, no. 3, pp383-392, June 2008) (hereinafter Zhelong and Hong) isdistinguished from the present invention by, inter alia, the followingdrawback: As the bristle rotates about its proximal end and the bristleangle moves beyond a critical angle θ with respect to the pipe wall, theaxial force that the bristle can sustain decreases to zero. Thus, thebristle flips through, pushing the brush core back along the pipe. Thefailure of the bristle by buckling is an instability phenomenon, hencethe flip through of the bristle is a quick and unstable process.

In the device of the present invention, the movement mechanism maximizesthe properties needed for movement in confined spaces. One is to takeadvantage of the entire area of contact with the enclosed spaceenvelope. Another is indifference to the complexity of the movementmedium, which enables coping with changes in the geometry of themovement medium, including changes in diameter and overcoming unexpectedobstacles. A third is the device is flexible so that is can move intortuous spaces.

The device is suitable for use in a variety of areas, such as:

-   -   Locating, rescuing and rescuing—in areas of natural disasters,        destruction sites, compounds that are not accessible to rescuers        due to dangerous atmosphere (toxic/explosive/radioactive/danger        of collapse), mines, tunnels and natural caves.    -   Infrastructure maintenance, accessibility mapping and        access—water, electricity, gas, fuel, air conditioning, etc.,        including threading cables through old or crowded conduits.    -   Research—a tool for conducting research in natural or artificial        tunnels that are not accessible to humans, for example, mapping        and collecting underground and underwater samples in        inaccessible areas.    -   Cleaning—ventilation ducts in commercial buildings (such as        restaurants) are typically long and relatively narrow, as well        as interconnected, making conventional cleaning difficult at        best.

The device is configured to do at least one of the following: moveacross smooth ground, move across rough ground, move past protuberancesin a surface, move past depressions in a surface, move through tunnels,move through pipes, move through ditches and any combination thereof.Pipes and tunnels can have any cross-section, including circular, oval,elliptical, polygonal and any combination thereof, as long as thesmallest dimension of the pipe or tunnel is larger than the centralportion(s) of the section(s).

The present invention comprises at least one section, each sectionhaving a portion comprising a drive sleeve and a core, the drive sleeveand core reciprocally movable toward each other. The drive sleeve has atleast one set of whiskers and the core has at least one set of whiskers,the whiskers extending outwards and generally rearwards. The core canpass entirely through the section, with the core extending past thedrive sleeve at both ends, or the core can extend only partway throughthe drive sleeve, with the core and drive sleeve overlapping, the corebeing one end of the section and the drive sleeve being the opposite endof the section,

The whiskers are configured to (a) support the weight of the centralportion so that the central portion does not contact the surroundings ofthe device, except in exceptional circumstances (e.g., a very narrowtunnel), and (b) enable movement of the section, as disclosedhereinbelow.

The cross-section of a whisker can be circular, elliptical, oval,polygonal, and any combination thereof. A polygon can have between 3 and20 sides. A polygon can be regular or irregular. For non-limitingexample, a 4-sided polygon can be a square, a rectangle, aparallelogram, a diamond, a kite, and any combination thereof.

For each section, the whiskers point outwardly within an area bounded bythe length of the section and an arc in a plane substantiallyperpendicular to the main longitudinal axis of the section andsubtending a range between 5° and 360°. Preferably, the arc subtends360°; the whiskers point outwardly from the section in all directions.

Reciprocal motion is effected by a motor at one end of a section, themotor being in communication with the other end of the section. Inpreferred embodiments, the motor is in communication with one end of arod, the other end of the rod being jointedly attached to the other endof the section. In other embodiments, other conventional methods ofgenerating reciprocal motion of one end of the section relative to theother end can be used, for non-limiting example, a pneumatic cylinderinternal to the section, a stepper motor and any combination thereof.

For simplicity, the end of the section comprising the motor will bereferred to hereinafter as the drive end and the opposite end, to whichthe rod is rotatably attached, will be referred to hereinafter as thecore end. Similarly, the end of the rod in communication with the motoris the rod drive end and the end of the rod jointedly attached to thecore is the rod core end.

The rod drive end is connected to the motor by means of a rotator, withthe axis of rotation of the rotator being perpendicular to the mainlongitudinal axis of the section, the main longitudinal axis of thesection also being the primary direction of motion of the section. Themotor is in communication with a rotator operatively connected to thedrive sleeve; as the rotator is being rotated by the motor, the roddrive end is moved around the circumference of a circle whose center isthe axis of rotation of the rotator. Therefore, when the rod drive endis nearest the front of the section, the distance between the front ofthe drive sleeve and the rear of the core is smallest and when the roddrive end is nearest the back of the section (closest to the core), thedistance between the front of the drive sleeve and the rear of the coreis smallest.

In some embodiments, the motor is in the core; in other embodiments, themotor is in the drive sleeve.

In some embodiments, at least one section comprises a single drivesleeve. In some embodiments, at least one section comprises a pluralityof drive sleeves, all of the drive sleeves being driven by the samemotor. In some embodiments with a plurality of drive sleeves, at leasttwo of the drive sleeves are driven by different motors.

If there is more than one section, each section is linearly connected toa next section by at least one joint, thereby allowing the sections tobend relative to each other around at least one axis. The joint can be ahinge, a universal joint, a straight joint, and any combination thereof.Preferably, the two sections can bend relative to each other around atleast two mutually perpendicular axes.

In some embodiments, at least two sections comprise independentbatteries or other power sources. In some embodiments, all sections areconnected to the same power source, which can be in the head or in onesection. In embodiments where more than one section comprise the samepower source, the sections sharing a power source are in electricalcommunication.

Preferably, at least one section comprises a steering mechanism. In oneembodiment, steering is by bending at least one joint between twosections by means of a steering cable controlled by a servo motor. Theservo motor is controlled by a processor (disclosed hereinbelow) and canbe in the head of the device (see hereinbelow) or in the section. Insome embodiments, each joint undergoes the same amount of bending. Insome embodiments, at least two sections can be bend by differenceamounts.

Starting from a position where the front of the drive sleeve and therear of the core are closest together, with the whiskers pointinggenerally backward, away from the drive end, as the drive sleeve and thecore are moved apart by the motor/rotor, friction between the rearrow(s) of whiskers and the ground (and/or the walls of a pipe or tunnel)will be greater than friction between the drive end row(s) of whiskersand the ground (and/or walls) since the core end row(s) of whiskers arebeing forced into the ground (and/or walls) while the drive end row(s)of whiskers can slide along the ground (and/or walls). Therefore, duringthe period when the drive sleeve and the core move apart, the core willremain substantially stationary while the drive sleeve moves forward.

After the drive sleeve and the core are furthest apart, they will bemoved closer together by the motor/rotor. When the drive sleeve and thecore move towards each other, the drive sleeve will be pulled backwardsand the core will be pulled forwards relative to the surface(s) so thatfriction between the drive end row(s) of whiskers and the ground (and/orthe walls) will be greater than friction between the core end row(s) ofwhiskers and the ground (and/or walls) since the drive end row(s) ofwhiskers are being forced into the ground (and/or walls) while the coreend row(s) of whiskers can slide along the ground (and/or walls).Therefore, the drive sleeve will remain substantially stationary whilethe core moves forward.

If the device whiskers are pointing generally forward, towards the driveend of the section(s), then the device will move in the reversedirection in the manner disclosed above, with the actions of the driveend and core end whiskers reversed.

For simplicity and clarity, unless otherwise stated, the whiskers willbe presumed to be generally pointing away from the drive end so that thedirection of motion of the device will be presumed to be generallytowards the drive end.

FIG. 1 schematically illustrates a cross-section of an embodiment of thedevice (100) of the present invention. In the embodiment shown, thedevice comprises five sections (2000), with a controller (1000) at thehead end of the device (100). Each section (2000) comprises a coreportion (2290) and a drive sleeve portion (2390), with at least one rowof whiskers (2120) in the core portion (2290) and at least one row ofwhiskers (2130) in the drive sleeve portion (2390). A head (1000), whichcan comprise a controller, a sensor, a processor, communications, andany combination thereof can be attached to at least one of the terminalsections (2000).

FIG. 2 schematically illustrates of a cross-section of an embodiment ofthe device (100) in a pipe (200). In FIG. 2, the device (100) is movingtowards the right of the figure. The general orientation of the whiskers(2120, 2130) is rearward, in the opposite direction from the directionof travel and the distal (free) end portions (2122, 2132) of thewhiskers (2120, 2130) are bent backward; the diameter of the pipe (200)being smaller than the diameter of the device when the whiskers arestraight. Although the device can travel through a pipe of diameterlarger than the diameter of the device with unbent whiskers, whiskersare not in contact with the pipe can not contribute to the motion of thedevice so that it can move more efficiently through a pipe of diametersmaller than the diameter of the device when the whiskers are straight.

In some embodiments, the device comprises at least one arm configured tograsp at least one object external to the device. In variants of suchembodiments, the device further comprises at least one locationconfigured to store at least one object at least temporarily.

The controller can comprise a processor, wired or wirelesscommunications with the section(s), wired or wireless communicationswith an external controller, at least one sensor, and any combinationthereof. The sensor can comprise a camera for capturing images of thesurroundings, a temperature sensor, a pressure sensor, a distancesensor, a direction sensor, a velocity sensor, an accelerometer, apressure sensor, a sound sensor, a force sensor, a magnetic sensor, anacoustic sensor, a seismic sensor, a laser scanner, an RF reader, an RFchip, a CO₂ detector, an IR sensor, a gas detector, an X-ray source andX-ray detector, a Geiger counter and any combination thereof.

The processor can comprise software configured to: control at least onemotor, control movement of at least one whisker, control speed of thedevice, control direction of at least one section, control bending of atleast one section, acquire sensor data, control movement of at least onearm, control access to at least one storage location, analyze at leastone camera image, store at least a part of at least one image, acceptcommands from an external controller, send data to an externalcontroller, store commands, store data, and any combination thereof.

Sensor data can comprise: a camera image, temperature data, distancedata, direction data, pressure data, sound, force data, and anycombination thereof. Temperature data can include ambient temperature,motor temperature, temperature of at least a portion of a drive sleeve,temperature of at least a portion of a core, temperature of at least aportion of a joint, temperature of at least a portion of a rod,temperature of at least a portion of a rotor, temperature of at least aportion of a whisker, temperature of at least a portion of a head andany combination thereof. Pressure data can include motor pressure,pressure on at least a portion of a drive sleeve, pressure on at least aportion of a core, pressure on at least a portion of a joint, pressureon at least a portion of a rod, pressure on at least a portion of arotor, pressure on at least a portion of a whisker, pressure on at leasta portion of a head and any combination thereof. Force data can includeforce exerted by a motor force, force exerted on at least a portion of adrive sleeve, force exerted on at least a portion of a core, forceexerted on at least a portion of a joint, force exerted on at least aportion of a rod, force exerted on at least a portion of a rotor, forceexerted on at least a portion of a whisker, force exerted on at least aportion of a head and any combination thereof.

Analysis of a camera image can include: determining a distance,determining a direction, identifying an item, identifying a destination,and any combination thereof. An item is a thing of interest, fornon-limiting example, a bomb, a weapon, a door, an entrance to a pipe ortunnel, an exit from a pipe or tunnel, an obstacle, a human, an animal,a plant, furniture, or a wall.

FIG. 3 schematically illustrates a cross-section of an embodiment of asection (2000). Each section (2000) comprises a core (2200, dot-doubledashed ovals) and a drive sleeve (2300, dot-dash oval). The drive sleeve(2300) wraps around the core (2200) and can substantially frictionlesslyand reversibly slide along the core (2300). Sections (2000) areconnected together by joints (2400). In the embodiment shown, the jointsare universal joints; in other embodiments, a joint can comprise anycombination of the following: a hinge, a universal joint, a ball joint,a pivot joint, a hinge joint, a ball and socket joint, a condyloidjoint, a saddle joint, a gliding joint, a knuckle joint or any otherconventional joint.

In some embodiments (as shown), the core (2200) passes entirely throughthe section (2000) with the joint(s) at the drive end of the section(2000) and the joint(s) at the core end of the section (2000) beingattached to the core (2200). In other embodiments, the drive sleeve(2300) extends only partway through the section (2000) so that the driveend joint(s) are attached to the drive sleeve (2300) while the core endjoint(s) are attached to the core (2200).

A connection between the core (2200) and the drive sleeve (2300) allowsreversible low-friction movement towards and away from each otherbetween the drive sleeve (2300) and the core (2200). The connectionbetween the drive sleeve (2300) and the core (2200) can be anyconventional connection allowing such low-friction reversible movement,including a slidable connection, a jointed connection, a rollingconnection and a bellows-type connection. Typically, a rollingconnection will be by means of one or more bearings disposed between thedrive sleeve (2300) and the core (2200).

In preferred embodiments entry of dirt or moisture into or onto thesections (2000) is prevented by means of an impermeable housingenclosing the section. In preferred embodiments, the joints (2400) areprovided with a protective, preferably impermeable, housing; thishousing can be a part of the section (2000) housing, or can be aseparate unit Impermeable housings are well-known in the art.

In some embodiments, movement of the drive sleeve (2300) relative to thecore (2200) is effectuated by means of a rod (2310) operatively attachedto a rotor (2220). In these embodiments, the rotor (2220) and the motor(2210) which drives it are in the core end of the section (2000), withthe rotor (2220) operatively attached to the core (2200). In thisembodiment, the rotor (2220) has at least one arm (2225), with the rod(2310) core end attached to an arm (2225) of the rotor (2220), while therod (2310) drive end is attached to the drive sleeve (2300). In theembodiment shown, the rotor (2210) has 4 arms (2225); a rotor (2220) canhave between 0 and 10 arms (2225). In rotors (2220) with no arms (2225),the rod (2310) core end is attached to a peripheral portion of the rotor(2220).

In some embodiments, the means of reciprocal motion can be a rotor(2220) and rod (2310) (as shown, a hydraulic cylinder, an air-drivenpiston, a cam, or any other means known in the art for causing slidingrelative motion between two parts of a device.

In embodiments where a motor (2210) is in a section, the motor (2210) isalso within the section housing and in embodiments where a motor (2210)is in the head (1000) or in a tail portion (not shown), it is within aprotective housing. Therefore, in all embodiments, all components of themeans of reversibly and reciprocally moving the core (2200) and drivesleeve (2300) relative to each other are protected from damaging agentsin the environment.

It should be noted that having the means of reversibly and reciprocallymoving the drive sleeve (2300) and core (2200) relative to each otherbeing components of a section (2000) differs significantly from what isknown in the art, where the reciprocal motion is between adjacentsections, with the means of reciprocal motion linking the sections.Furthermore, having the rotor (2220), rod (2310) and motor (2210) beinginside the section (2000) housing, thereby protecting them fromcontaminants and damage in the environment, is also not anticipated inthe art.

As the rotor (2220) is rotated by the motor (2210), the drive sleeve(2300) is moved forward and backward relative to the core (2200).

It should be noted that, in some embodiments, the motor (2210) is in thecore (2200) and in some embodiments, the motor (2210) is in the drivesleeve (2300).

In the exemplary embodiment of FIG. 3 each section (2000) comprises twosets of three rows of whiskers (2120, 2130), one set (2120) on the core(2200) and one set (2130) on the drive sleeve (2300). The whiskers(2120, 2130) extend outward from the sections (2000), generally parallelto each other, with one end attached to the section (2000) and one freeend. The free end is generally rearward of the end (“base end”) attachedto the section (2000), where “rearward” is in the opposite directionfrom the direction of travel. In the exemplary embodiment of FIG. 2, thefree end of the whiskers is toward the tail of the device; the directionof travel is toward the head of the device (black arrow in FIG. 1).

In preferred embodiments, the angle between the main longitudinal axis(2500) of a section (2000) and the whiskers (2120, 2130) attached to thesection (2000) will be between 45° and 90°.

In preferred embodiments, the angle will be substantially the same)(±10°for all the whiskers (2120, 2130) attached to a section (2000). In someembodiments, the angle will be substantially the same (±10°) for all thecore (2120) attached to the core (2200) and substantially the same(±10°) for all the drive sleeve whiskers (2130) attached to the drivesleeve (2300), but substantially different (>10°) between the corewhiskers (2120) and the drive sleeve whiskers (2130). In someembodiments, at least two whiskers (2120, 2130) in a section (2000) canbe at substantially different angles.

In preferred embodiments, the angle will be substantially the same(±10°) between the whiskers (2120, 2130) attached to one section (2000)and the whiskers (2120, 2130) attached to any other section (2000). Insome embodiments, the whiskers (2120, 2130) can be at substantiallydifferent angles (>10°) between at least one section (2000) and at leastone other section (2000).

The whiskers (2120, 2130) support the sections (2000), keeping thesections (2000) away from the ground or walls, enable motion of thedevice, as disclosed herein, and control the direction of motion of thedevice (100), as disclosed hereinbelow.

The whiskers can be flexible or rigid. Flexible whiskers can be of anymaterial sufficiently stiff to support the sections (2000), andsufficiently flexible to bend, at least in a distal portion thereof,preferably near the free end (see FIG. 2, above, and FIG. 6, below).Typically, a flexible whisker is mounted to a section, either directlyor via a holder, at one or more fixed angles to the section. If aflexible whisker in contact with a surface encounters an irregularity inthe surface, it will flex so as to maintain contact with the surface.

A rigid whisker, on the other hand, which can not flex to maintaincontact with a surface. However, the attachment system connecting therigid whisker to the section can comprise a hinge or other rotatablesupport and one or more springs, thereby allowing the whisker to respondto irregularities in the surface and to maintain contact with thesurface in spite of the irregularities.

The device can comprise whiskers that are flexible, whiskers that arerigid and any combination thereof.

In the exemplary embodiments of FIGS. 2 and 6, the whiskers are shown asflexible.

FIG. 4A-D schematically illustrates an embodiment of an attachmentsystem for a rigid whisker (2100). In this illustrative embodiment, thefrontmost row of whiskers, at the head (1000) end, are attached to thecore (2200), while the remaining rows of whiskers are attached to drivesleeves (2300).

FIG. 4A shows a perspective view of an illustrative embodiment with 3rows of rigid whiskers (2100). FIG. 4B shows a perspective close-up viewof one row of whiskers (2100) in the illustrative embodiment of FIG. 4A.FIG. 4C shows a side view of one row of whiskers (2100) in theillustrative embodiment of FIG. 4A while FIG. 3D shows a cross-sectionside view of one row of whiskers (2100) in the illustrative embodimentof FIG. 4A.

In the illustrative embodiment of FIG. 4A-D, each rigid whisker (2100)(or clump of whiskers) is pivotally (2116) attached to a core section(2200) or a drive section (2300). Each rigid whisker (2100) is furtherattached by a rigid rod (2113) to a spring (2114). The rigid rod (2113)is pivotally (2111) attached at one end (the whisker end) to the rigidwhisker (2100) and pivotally (2113) attached at the other end (thespring end) to a spring (2114). In this illustrative embodiment, thespring (2114) is housed within the core (2200) for core whiskers orwithin the drive sleeve (2300) for drive sleeve whiskers. A grooveallows the rigid rod (2112) to slide along the drive sleeve (2300) fordrive sleeve whiskers, as pushed or pulled by the spring (2114). In theembodiment shown, when there is no inward pressure (towards the section)on a rigid whisker (2100), the spring (2114) pushes the rigid whisker(2100) outward via the rigid rod (2112) until the spring end of therigid rod (2112) has reached the end of its travel, at the end of thegroove. If there is inward pressure on the rigid whisker (2100), it willpivot inward, pushing the rigid rod (2112) along the groove and awayfrom its end stop, compressing the spring (2114), until the inward forcedue to the pressure is counterbalanced by the spring force. Such inwardpressure can arise from the weight of the section (including objectsattached to or on top of the section), from surfaces on opposite sidesof the device constraining the outward movement of whiskers, or from anoutward irregularity in the surface. Similarly, if a whisker encountersan inward irregularity in a surface, the spring (2114) will push thespring end of the rigid rod (2112) towards its end stop, pivoting therigid whisker (2100) outward until the inward force due to the pressureis counterbalanced by the spring force or until the spring end of therigid rod (2112) reaches its end stop. In the latter case, the whisker(2100) can lose contact with the surface. However, in general, otherwhiskers can take up the load and the device will remain stable.

A spring (2114) can be housed within a core or drive sleeve, within thehead, within a tail, in a sleeve on a core or drive sleeve, in a sleeveon the head, in a sleeve on a tail, or in any conventional manner thatallows the spring to

In some embodiments, at least one rigid whisker (2100) can be attachedto more than one spring, for non-limiting example, be attached to aforward-facing and a rearward-facing spring. Any combination of aforward-facing spring, a rearward-facing spring, a sideward facingspring and a diagonal spring can be attached to a rigid whisker.

A spring can be a helical coil spring, as shown, a conical spring, aleaf spring, a compression spring, an expansion spring, a torsionspring, a disc spring, a serpentine spring, a spiral spring, amainspring, a negator constant force spring and any combination thereof.

A spring (2114) can be attached to a rigid rod (2112), to another spring(not shown) or directly to a rigid whisker (2100). It can have one ortwo fixed ends; the rigid rod (2112) can be attached to the spring(2114) at a central portion of the spring (2114).

In the exemplary embodiments of FIGS. 2 and 6, the whiskers are shown asflexible.

Whiskers can comprise a material selected from a group consisting ofsteel, stainless steel, spring steel, nylon, polypropylene, aluminum,fiberglass, carbon fiber reinforced polymer, polymer and any combinationthereof. The polymer can be nylon, polyurethane, Acrylonitrile butadienestyrene (ABS) and any combination thereof.

As schematically illustrated in plan view in FIG. 5A-F, looking down onthe bases of the whiskers, a section (2000) can comprise rows ofwhiskers (FIG. 5A), staggered rows of whiskers (FIG. 5B), intersectingrows of whiskers (FIG. 5C), randomly arranged whiskers (FIG. 5D)elliptical arrangements of whiskers (FIGS. 5E and 5F) and anycombination thereof. The number of rows of whiskers can be in a rangefrom 1 to 300. Each row of whiskers comprises at least two whiskers andcan comprise up to 100 whiskers. The distance between any two positionsin an arrangement can be the same as at least one other distance betweenany two positions or different from all other distances between twopositions,

As schematically illustrated in FIG. 6A-B, each position in anarrangement of whiskers can comprise a single whisker (FIG. 6A) or aplurality of whiskers (FIG. 6B). The number of whiskers need not be thesame for different positions.

FIG. 7A-B schematically illustrate a possible means by which the devicecan move across a surface (200). The device is not limited by thispossible means. In FIG. 7A, the drive sleeve (2300) is at its maximumrearward position relative to the core (2300). In the embodiment shown,this maximum rearward position occurs when the rod (2310) is at itsrearmost position. The drive sleeve (2300) will then be moved forward(hatched arrows) relative to the core (2200). In the embodiment shown,this occurs as the rotor (2210) turns, moving the arm (2225) andtherefore the rod (2310) forward relative to the core (2200). Frictionbetween the core whisker free end portions (2122) of the core whiskers(2120) and any surface(s) (200, dashed lines) the core whisker free endportions (2122) are in contact with will substantially prevent the corewhisker free end portions (2122) from moving backwards (Xs) while thesleeve whiskers free end portions (2132) will slide along the surface(s)(200) so the drive sleeve (2300) will move forward (grey arrow) relativeto the surface(s) (200).

In FIG. 7B, the drive sleeve (2300) is at its forwardmost positionrelative to the core (2200). In the embodiment shown, this occurs whenthe rod (2310) is at its frontmost position. The drive sleeve (2300)will then be moved backward (hatched arrows) relative to the core(2200). In the embodiment shown, this occurs as the rotor (2210) turns,moving the arm (2225) and therefore the rod (2310) backward relative tothe core (2200). Friction between the sleeve whisker free end portions(2132) and any surface(s) (200, dashed lines) the sleeve whisker freeend portions (2132) are in contact with will substantially prevent thesleeve whisker tips (2130) from moving forwards (Xs) while the corewhisker free end portions (2122) will slide along the surface(s) (200),so the core (2200) will move forward (grey arrow) relative to thesurface(s) (200).

Therefore, the device (100) will move forward on both halves of thecycle, both when the drive sleeve (2200) is moving forward relative tothe core (2300) and when the drive sleeve (2200) is moving backwardrelative to the core (2300).

The device is configured so that the general orientation of the whiskers(2120, 2130) is rearward, in the opposite direction from the directionof travel. Therefore, for the device to reverse direction, the generalorientation of the whiskers (2120, 2130) must be reversed, so that thewhiskers (2120, 2130) are generally oriented rearward from the new,reversed direction of travel.

As schematically illustrated in FIG. 8, in some embodiments, reversal ofthe direction of travel can be by means of a pivoting mechanism (notshown) attached to the base (proximal) end of the whisker to be rotated.In some embodiments, each whisker (2100) (or clump of whiskers)comprises its own pivoting mechanism. In some embodiments, more than onewhisker (2100) (or clump of whiskers) shares the same pivotingmechanism. Pivoting can be controlled by the processor.

A pivoting mechanism can control orientation of a flexible whisker, arigid whisker and any combination thereof.

In some embodiments, the pivoting mechanism is a servo motor inmechanical connection with the base of a whisker. The servo motor can beattached directly to the base of a whisker or whiskers, or it can beconnected to the base of the whisker or whiskers by a cable.

In some embodiments, pivoting can be by means of a magnetic mechanism inwhich the base of a whisker (or clump thereof) is held by at least onecatch at an angle for propagation of the section in one direction. Toreverse direction, the catch is released and an electromagnet draws thebase of the whisker (or clump thereof) towards a second at least onecatch. Once caught by the second at least one catch, the whisker (orclump thereof) is angled for propagation of the section in a seconddirection, preferably opposite to the first direction.

As disclosed above, if one or more of the bristles of the device ofZhelong and Wang rotates beyond a critical angle θ with respect to thepipe wall, it can buckle and flip through. If a sufficient number ofbristles flip through, the brush core can be pushed back along the pipe.However, the failure of the bristle by buckling is an instabilityphenomenon, hence the flip through of a bristle is a quick and unstableprocess. Since the flip-through depends on the angle of the individualbristle with respect to the pipe wall, it is possible for a fraction ofthe bristles to flip through, for example, if a subset of bristlesencounters an obstacle. Therefore, it is possible for the robot to betrapped in a pipe (if the fraction is such that the forward force fromone subset of bristles equals the rearward force of the other subset ofbristles) or to reverse spontaneously and unexpectedly (if the fractionis such that the forward force from one subset of bristles is less thanthe rearward force of the other subset of bristles). It is also notpossible for an external operator to control reversal of direction ofthe device of Zhelong and Wang.)

This is a completely different phenomenon from the mechanicallycontrolled and therefore deliberate and controllable reversal of thebristles as disclosed herein, which ensures reversal of all of thebristles in a controllable manner and enables control of reversal ofdirection by, for non-limiting example, a command received from anexternal source or by software in the robot's processor.

As schematically illustrated in FIGS. 9A-C and 10, in some embodiments,reversal of the direction of travel can be by means of exchanging base(2104) and free (distal) (2102) ends of a whisker (2100) or clump ofwhiskers (2100). FIGS. 9A to 9C schematically illustrate the overallprocess. The base (2104) of each whisker (or clump thereof; illustratedwith a single whisker) (2100) is held by a curved whisker holder (2150).Before reversal (FIG. 9A), only the base (2104) of the whisker (2100) isheld by the whisker holder (2150). To reverse the direction of travel ofthe device, as shown in FIG. 9B, the whisker holder (2150) pulls thewhisker (2100) through the holder (2150) so that the base (2104) exitsthe opposite side of the whisker holder (2150) and the distal end (2102)is drawn towards the whisker holder (2150). As shown in FIG. 9C, at theend of the process, the former distal end (2104) has become the base endand the former distal end (2102) is now the base end, held by thewhisker holder (2150).

FIG. 10 schematically illustrates an embodiment of a mechanism forexchanging base (2104) and distal (2102) ends for reversal of thedirection of motion. In this illustrative embodiment, the mechanism ofthe whisker holder (2150) comprises a curved race (2152) and at leastone wheel (2154). The whisker holder (2150) can have a cross-sectionconfigured to allow the whisker (2100) to pass through it easily. Fornon-limiting example the cross-section can be the same shape as thewhisker (2100), and between 1% and 10% larger in area than the whisker(2100).

The wheel(s) (2154) engage with the whisker (2100) and, as the wheel(s)(2154) are rotated, friction between the wheel(s) (2154) and the whisker(2100) draws the whisker (2100) through the race (2152). In theillustrative exemplary embodiment of FIG. 10, if the wheels rotatecounterclockwise (hatched arrows) the direction of motion of the whisker(2100) is left-to-right (grey arrows).

An advantage of reversing whisker base and free ends over pivoting awhisker is that, unlike pivoting, the diameter of the device does notincrease during the reversing process, thus increasing the probabilityof a successful reverse and reducing the force exerted by the whiskerson the surroundings. If the reversing process is carried outsequentially, preferably starting from the front (where a line from thefree end towards the base of a whisker points generally towards thefront), then the overall diameter of the device does not changesignificantly during the reversing process, so that the device remainsin a substantially stable position during the reversing process and doesnot fall towards the surface beneath it.

FIGS. 11A-D and 12A-C schematically illustrate embodiments of mechanismsfor changing the direction of motion of the device (1000) by changingwhich whiskers contact the surface(s).

In the “push-pull” embodiment of FIGS. 11A-D, the whisker (2100A, 2100B)bases are pivotally (2162) attached (see FIG. 11A) to a carrier (2160)slidable along a section part (3200) that can be a drive sleeve (2200)or a core (2300). End stops (3210) prevent the carrier (2160) frommoving beyond the end of the section part (3200). In this embodiment, aroller chain or pair of roller chains (2166) pulled by a motor (notshown) move the carrier (2160) along the section part (3200). In otherembodiments, the motor can pull a roller chain, a chain, a rope, a cord,a belt and any combination thereof, or any other conventional means ofconnecting a driving motor to a driven object. When the carrier (2160)is at an end of the section part (3200) (FIGS. 11A and 11B), the set ofwhiskers (2100A, 2100B) at that end of the section part (3200) isactive, pivoted outward, and the set of whiskers (2100B, 2100A) at theother end of the section part (3200) is close to the section part(3200), in this embodiment, resting against the carrier (2160).

FIG. 11A shows an enlarged view of the carrier (2160). The pivots (2162)at the bases of the whiskers are shown. Each whisker (2100A, 2100B)passes between two pivoting studs (2164). As the carrier (2160) passesdown the section part (3200), each pair of pivoting studs (2164) causesthe whisker (2100A, 2100B) that passes between them to pivot. As thecarrier (2160) moves away from an end stop (3210), the pivoting studs(2164) induce the whisker (2100A, 2100B) to pivot inward, (white arrows,FIG. 11B), and, as the carrier (2160) moves toward an end stop (3210),the pivoting studs (2164) induce the whisker (2100A, 2100B) to pivotoutward, (black arrows, FIG. 11B), thus changing the set of whiskerscontacting the surface(s) and changing the direction of travel of thedevice (1000).

FIG. 11B shows the push-pull embodiment with the carrier (2160) at thetop end of the section part (3200), against the top end stop (3210), Thetop end whiskers (2100A) are extended and can contact a surface (notshown), while the bottom end whiskers (2100B) are against the top endstop (3210). The device (1000) can travel in the downward direction(dark grey arrow).

FIG. 11C shows the push-pull embodiment during a change of movementdirection, with the carrier (2160) near the middle of the section part(3200). The top end whiskers (2100A) are pivoting inward (white arrows)while the bottom end whiskers (2100B) are pivoting outward (blackarrows). At this point, the section part (3200) is unsupported. Inpreferred embodiments, support for a section (2000) can be providedduring a direction change by changing direction of motion in a patternedfashion so that, during the direction change, an unsupported part issupported by adjacent parts. For non-limiting example, a “wave” ofdirection change can pass down a device (1000), with only one portion ofa section (2000) changing direction at any time. In another non-limitingexample, alternate sections (2000) can change direction, or every nthsection, or n sections out of m, where m is greater than n; or a numberof drive sleeve (2200) can change direction, followed (or preceded by) anumber of cores (2300), or any combination thereof.

FIG. 11D shows the push-pull embodiment with the carrier (2160) at thebottom end of the section part (3200), against the bottom end stop(3210), The bottom end whiskers (2100B) are extended and can contact asurface (not shown), while the top end whiskers (2100A) are against thebottom end stop (3210). The device (1000) can travel in the upwarddirection (light grey arrow).

In the “umbrella” embodiment of FIGS. 12A-D, the whisker (2100A, 2100B)bases are pivotally (2172) attached (see FIG. 12A) to a fixed base(2170) at an end of the carrier (2160). A slider (2180), slidable alonga section part (3200) that can be a drive sleeve (2200) or a core(2300), is connected via a slider bar (2176) to a base portion of atleast one whisker (2100A, 2100B). In this embodiment, a roller chain orpair of roller chains (2166) pulled by a motor (not shown) move theslider (2180) along the section part (3200). In other embodiments, themotor can pull a roller chain, a chain, a rope, a cord, a belt and anycombination thereof, or any other conventional means of connecting adriving motor to a driven object.

When the slider (2180) is at the upper end of its travel (FIGS. 12A,12B), the set of whiskers (2100A) at that end of the section part (3200)is active, pivoted outward, and the set of whiskers (2100B) at the otherend of the section part (3200) is close to the section part (3200), inthis embodiment, adjacent to the fixed base (2170).

FIG. 12A shows an enlarged view of an end of the section part (3200).The pivots (2172) at the bases of the whiskers are shown. Each set ofwhiskers (2100A, 2100B) is connected together by a connector bar (2178)that keeps the whiskers (2100A, 2100B) in a set pointing in the samedirection.

At least one whisker (2100A, 2100B) in each set is connected to theslider (2180) via a slider bar (2176). As the slider (2180) passes downthe section part (3200), each slider bar (2176) pulls the whiskers(2100A, 2100B) in the set to which it is attached, causing them topivot. As the slider (2180) moves away from an end of the section part(3200), the slider bar (2180) induces the whiskers (2100A, 2100B) topivot inward, (white arrows, FIG. 12B), and, as the slider (2180) movestoward an end of the section part (3200), the slider bar (2180) inducesthe whiskers (2100B, 2100A) to pivot outward, (black arrows, FIG. 12B),thus changing the set of whiskers contacting the surface(s) and changingthe direction of travel of the device (1000).

FIG. 12B shows the umbrella embodiment with the slider (2180) at the topend of its travel, The top end whiskers (2100A) are extended and cancontact a surface (not shown), while the bottom end whiskers (2100B) areadjacent to the top fixed base (2170). The device (1000) can travel inthe upward direction (light grey arrow).

FIG. 12C shows the umbrella embodiment during a change of movementdirection, with the slider (2180) near the center of its travel. The topend whiskers (2100A) are pivoting inward (white arrows) while the bottomend whiskers (2100B) are pivoting outward (black arrows). At this point,the section part (3200) is unsupported. In preferred embodiments,support for a section (2000) can be provided during a direction changeby changing direction of motion in a patterned fashion so that, duringthe direction change, an unsupported part is supported by adjacentparts. For non-limiting example, a “wave” of direction change can passdown a device (1000), with only one portion of a section (2000) changingdirection at any time. In another non-limiting example, alternatesections (2000) can change direction, or every nth section, or nsections out of m, where m is greater than n; or a number of drivesleeve (2200) can change direction, followed (or preceded by) a numberof cores (2300), or any combination thereof.

FIG. 12D shows the umbrella embodiment with the slider (2180) at thebottom of its travel, The bottom end whiskers (2100B) are extended andcan contact a surface (not shown), while the top end whiskers (2100A)are adjacent to the bottom fixed base (2170). The device (1000) cantravel in the downward direction (dark grey arrow).

Any other conventional mechanism for changing a direction of a whiskercan be used.

As schematically illustrated in FIG. 13, in some embodiments, at leastone whisker (2100) has at least one pointed distal end (2104) that can“dig in” to a hard surface to minimize slipping of a stationary whiskerfree end portion (2122, 2132, see X's in FIGS. 7A-7B) on the hardsurface.

In some embodiments, at least one whisker (2100) additionally comprisesat least one pressure spreader (2160) to prevent a whisker free endportion (2122, 2132) from sinking too far in a soft surface (200). Inpreferred embodiments, when there is no pressure on the distal portionof the whisker (2100), the distal end (s) (2162) of the at least onepressure spreader (2160) extend beyond the distal tip of the whisker towhich the at least one pressure spreader (2160) is attached. Whenpressure is applied to the whisker (2100) by a surface (200, see FIG.2), the distal end (s) (2162) of the at least one pressure spreader(2160) will move distally. This can occur because the material of the atleast one pressure spreader (2160) compresses, because the material ofthe at least one pressure spreader (2160) moves laterally (typicallyaway from the longitudinal axis of the whisker free end portion (2122,2132)), because the entire at least one pressure spreader (2160) movesproximally relative to the whisker, and any combination thereof. Whenthe pressure is sufficient for the tip of the whisker (2100) to contactthe surface (200, not shown), if the surface (200) is hard enough(and/or the whisker (2100) tip is blunt enough), substantially all ofthe pressure will be transmitted through the whisker (2100) tip; thewhisker will function as though the at least one pressure spreader(2160) were not present.

If the surface “gives” under the pressure, then some of the pressurewill be transferred from the whisker (2100) to the at least one pressurespreader (2160), until the pressure is substantially the same across theat least one pressure spreader (2160) and the whisker (2100) tip, thussignificantly reducing the pressure on the surface and thereby reducingthe possibility of damage to the surface (200), the whisker (2100)penetrating the surface, the whisker (2100) becoming stuck in thesurface (200) and any combination thereof.

In the exemplary embodiment shown, the pressure spreader (2160)comprises at least one brush, which can be substantially annular incross-section or can comprise individual tufts surrounding a whisker(2100) tip. When pressure is exerted on the distal end of the at leastone pressure spreader (2160), the fibers in the brush move, typicallylaterally, bend or both move and bend, thus moving the distal ends ofthe brush fibers proximally until the pressure is substantially the sameacross the distal end of the at least one pressure spreader (2160) andthe whisker (2100) tip, thus significantly reducing the pressure on thesurface and thereby reducing the possibility of damage to the surface(200), the whisker (2100) penetrating the surface, the whisker (2100)becoming stuck in the surface (200) and any combination thereof.

In some embodiments, at least one pressure spreader (2160) can comprisea soft or foam-like material with compressibility configured to preventdamage to a surface. The compressibility can depend on the amount ofbending expected in the whiskers, the distance between whiskers, theweight of the section to which the whiskers are attached,

As shown in FIGS. 14A-B and FIGS. 15A-B, in some embodiments, at leastone pressure spreader (2160) can comprise a spring (2164), typically inits proximal region. FIG. 14A-B shows an exterior view, while FIG. 15A-Bshows a cross-section of the embodiment of the spreader (2160). FIGS.14A and 15A show the spring (2164) in its uncompressed state, whileFIGS. 14B and 15B show the spring (2164) in a compressed state. With nopressure on the pressure spreader (2160), the spring (2164) isuncompressed (FIG. 14A and FIG. 15A), When pressure is exerted on thedistal end of the at least one pressure spreader (2160), the spring(2164) compresses (FIG. 14B and FIG. 15B), moving the at least onepressure spreader (2160) proximally until the pressure is substantiallythe same across the distal end of at least one pressure spreader (2160)and the whisker (2100) tip, thus significantly reducing the pressure onthe surface (the force on the whisker (2100) being unaffected by thearea across which it is spread) and thereby reducing the possibility ofdamage to the surface (200), damage to the whisker (2100) penetration ofthe surface (200) by the whisker (2100), the whisker (2100) becomingstuck in the surface (200) and any combination thereof.

It should be noted that any combination of a soft material, a foam-likematerial, a compressible material, a brush and a spring can be used inat least one pressure spreader (2160) and that all the pressurespreaders (2160) can be the same or at least two pressure spreaders(2160) can be different, either in that they use a different combinationof elements, in that at least one element has different properties, andany combination thereof.

1. A device (100) for moving across a surface (200) comprising: a. atleast one section (2000), said section (2000) having a main longitudinalaxis (2500), said section (2000) comprising a core (2200) and at leastone drive sleeve (2300), the at least one drive sleeve (2300) reversiblymovable relative to the core (2200) in a direction of the mainlongitudinal axis (2500); b. for each said at least one section (2000),at least one row of core whiskers (2130) in mechanical communicationwith the core (2200); c. for each said at least one section (2000), atleast one row of sleeve whiskers (2120) in mechanical communication withthe drive sleeve (2300); wherein each said at least one section (2000)comprises a rotor (2220) in mechanical connection with the core (2200)and the at least one drive sleeve (2300), said rotor (2220) configuredto reversibly move the drive sleeve (2300) relative to the core (2200);further wherein, for each said at least one section (2000), said core(2200) passes at least partly through said at least one drive sleeve(2300).
 2. The device (100) of claim 1, wherein each member of a groupconsisting of said at least one row of core whiskers and said at leastone row of sleeve whiskers comprises at least one whisker at at leastone position.
 3. The device (100) of claim 1, additionally comprising arod, the rod connected at a rod drive end with the rotor (2220) and therod connected at a rod core end with the core (2200). 4.-5. (canceled)6. The device (100) of claim 1, wherein the at least one section (2000)additionally comprises a rocking mechanism, the rocking mechanismconfigured to displace either the rotor (2220) or the rotor (2220) andthe motor in a direction perpendicular to the main longitudinal axis(2500) of the at least one section (2000). 7.-12. (canceled)
 13. Thedevice (100) of claim 1, additionally comprising at least one armconfigured to grasp at least one object.
 14. (canceled)
 15. The device(100) of claim 1, wherein at least one of the following is true: a. foreach section (2000), for each core whisker in said at least one row ofcore whiskers, a free end of said core whisker is closer to the core endof said section (2000) than abase end of the same core whisker and, foreach sleeve whisker in said at least one row of sleeve whiskers, a freeend of said sleeve whisker is closer to the core end of said section(2000) than a base end of the same sleeve whisker; and b. for eachsection (2000), for each core whisker in said at least one row of corewhiskers, a free end of said core whisker is closer to the drive end ofsaid section (2000) than a base end of the same core whisker and, foreach sleeve whisker in said at least one row of sleeve whiskers, a freeend of said sleeve whisker is closer to the drive end of said section(2000) than a base end of the same sleeve whisker.
 16. (canceled) 17.The device (100) of claim 1, additionally comprising at least onemechanism for reversing a direction of at least one member of a groupconsisting of said at least one row of core whiskers and said at leastone row of sleeve whiskers.
 18. The device (100) of claim 17, whereinthe at least one mechanism for reversing the direction is selected froma group consisting of a pivoting mechanism, a whisker end reversingmechanism, and any combination thereof. 19.-21. (canceled)
 22. Thedevice (100) of claim 1, additionally comprising a steering mechanism.23. (canceled)
 24. A method for moving across a surface (200)comprising: a. providing a device (100) for moving across a surface(200) comprising: i. at least one section (2000), said section (2000)having a main longitudinal axis (2500), said section (2000) comprising acore (2200) and at least one drive sleeve (2300), the at least one drivesleeve (2300) reversibly movable relative to the core (2200) in adirection of the main longitudinal axis (2500); ii. for each said atleast one section (2000), at least one row of core whiskers inmechanical communication with the core (2200); iii. for each said atleast one section (2000), at least one sleeve row of whiskers inmechanical communication with the drive sleeve (2300); b. placing saiddevice (100) on a surface (200); and c. activating said device (100);wherein each said at least one section (2000) comprises a rotor (2220)in mechanical connection with the core (2200) and the at least one drivesleeve (2300), the rotor (2220) configured to reversibly move the drivesleeve (2300) relative to the core (2200); further wherein, for eachsaid at least one section (2000), said core (2200) passes at leastpartly through said at least one drive sleeve (2300).
 25. The method ofclaim 24, additionally comprising a step of providing each member of agroup consisting of said at least one row of core whiskers and said atleast one row of sleeve whiskers comprising at least one whisker at atleast one position. 26.-28. (canceled)
 29. The method of claim 24,additionally comprising steps of providing the at least one section(2000) comprising a rocking mechanism, and the rocking mechanismdisplacing either the rotor (2220) or the rotor (2220) and the motor ina direction perpendicular to the main longitudinal axis (2500) of the atleast one section (2000). 30.-35. (canceled)
 36. The method of claim 24,additionally comprising a step of providing at least one arm. 37.-41.(canceled)
 42. The method of claim 24, additionally comprising a step ofproviding at least one mechanism for reversing a direction of at leastone member of a group consisting of said at least one row of corewhiskers and said at least one row of sleeve whiskers.
 43. The method ofclaim 42, additionally comprising a step of selecting the at least onemechanism for reversing the direction from a group consisting of apivoting mechanism, a whisker end reversing mechanism, and anycombination thereof. 44.-46. (canceled)
 47. The method of claim 24,additionally comprising a step of providing a steering mechanism. 48.(canceled)
 49. A device (100) for moving across a surface (200)comprising: a. at least one section (2000), said section (2000) having amain longitudinal axis (2500), said section (2000) comprising a core(2200) and at least one drive sleeve (2300), the at least one drivesleeve (2300) reversibly movable relative to the core (2200) in adirection of the main longitudinal axis (2500); b. for each said atleast one section (2000), at least one row of core whiskers (2130) inmechanical communication with the core (2200); c. for each said at leastone section (2000), at least one row of sleeve whiskers (2120) inmechanical communication with the drive sleeve (2300); wherein, for eachsaid at least one section (2000), said reversible movement between saidleast one drive sleeve (2300) and said core (2200) is effected by adrive mechanism selected from a group consisting of a rotor (2220) inmechanical connection with the core (2200) and the at least one drivesleeve (2300), said rotor (2220) configured to reversibly move the drivesleeve (2300) relative to the core (2200); a motor, a cam, a screwmechanism, a stepper motor and any combination thereof.
 50. The device(100) of claim 49, further wherein power for the drive mechanism isprovided by a power source contained within said at least one section(2000); and wherein each member of a group consisting of said at leastone row of core whiskers and said at least one row of sleeve whiskerscomprises at least one whisker at at least one position.
 51. The device(100) of claim 49, additionally comprising a rod, the rod connected at arod drive end with the rotor (2220) and the rod connected at a rod coreend with the core (2200). 52.-71. (canceled)
 72. A method for movingacross a surface (200) comprising: a. providing a device (100) formoving across a surface (200) comprising: i. at least one section(2000), said section (2000) having a main longitudinal axis (2500), saidsection (2000) comprising a core (2200) and at least one drive sleeve(2300), the at least one drive sleeve (2300) reversibly movable relativeto the core (2200) in a direction of the main longitudinal axis (2500);ii. for each said at least one section (2000), at least one row of corewhiskers in mechanical communication with the core (2200); iii. for eachsaid at least one section (2000), at least one sleeve row of whiskers inmechanical communication with the drive sleeve (2300); b. placing saiddevice (100) on a surface (200); and c. activating said device (100);wherein, for each said at least one section (2000), said reversiblemovement between said least one drive sleeve (2300) and said core (2200)is effected by a drive mechanism selected from a group consisting of arotor (2220) in mechanical connection with the core (2200) and the atleast one drive sleeve (2300), said rotor (2220) configured toreversibly move the drive sleeve (2300) relative to the core (2200); amotor, a cam, a screw mechanism, a stepper motor and any combinationthereof; further wherein power for the drive mechanism is provided by apower source contained within said at least one section (2000). 73.-96.(canceled)